Baldor H2 H2 Vector Controls Application Note

Document Reference AN060003H2
AUTO TUNING H2 VECTOR CONTROLS
WARNING: These procedures may rotate the motor up to maximum speed. Do not
perform auto tuning unless it is safe to rotate the motor under automatic control of the
drive. Read the H2 instruction manual first and observe all safety precaution prior to
working on this equipment.
Equipment required:
H2 Vector
H2 Servo
Introduction:
Automatic tuning of the controller to the motor is accomplished by running an auto tune
procedure in the QUICK SET-UP mode, or in Level 2, AUTO TUNE parameter block.
One-step static tuning and select-each-step rotating auto tuning allow for various
application configurations and constraints.
These procedures require the motor and encoder (if used) to be properly wired, shielded
and grounded. Please read the H2 instruction manual in detail and become familiar with
the H2 keypad operation, programming functions and keypad navigational keys prior to
proceeding with auto tune.
Procedure:
A.
AUTO TUNING WITHOUT A LOAD CONNECTED TO THE MOTOR
For this test the motor must be free to rotate with no external load or source of significant
windage or friction. The simplest auto tuning method is to run the auto tuning procedure
in “QUICK SET-UP” mode, as follows:
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After power-up the keypad displays the STATUS screen.
Press the MENU key to display menu options.
Press navigational arrow to move cursor, and select QUICK SET-UP,
then press ENTER.
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Press navigational arrow to go to CONTROL TYPE screen and press
ENTER.
Select “Closed Vector” or Open Vector, as required, and press
ENTER.
Next, program Motor Rated Volts, Motor Rated Amps, Motor Rated
Speed, and Motor Rated Frequency by entering data found on the
motor nameplate.
Press navigational arrow to go to CALC MOTOR MODEL screen.
Press ENTER, select YES, press ENTER.
This procedure loads into memory the preset values that are required
to perform auto tune. Always run CALC MOTOR MODEL prior to
auto tune!
Next, press navigational arrow to go to FEEDBACK SOURCE screen.
DAUGHTER FDBK is a default parameter in Closed Loop Vector
mode and is most often used. Press ENTER to select DAUGHTER
FDBK. Other possible feedback selections are: None (used in Open
Loop Vector mode), Option Slot 1, and Option Slot 2. Slot 1 and Slot
2 options are used in special applications.
Next, press navigational arrow to go to ENCODER COUNTS screen
(Default value is 1024). Program the desired encoder count, if
different than 1024, and press ENTER.
Next, press navigational arrow to go to ANALOG OFFSET TRIM
screen. All analog inputs should be set to zero before running this
procedure. This procedure trims out (or offsets) each analog input in
order to zero out the analog command. Test will fail if inputs are
greater than 2.5 volts. Programmable options are NO or YES. Select
YES and press ENTER.
Next, press navigational arrow to go to ONE-STEP TUNING, Press
ENTER, select YES, press ENTER. The control will now measure the
following motor circuit data: Motor R1-Stator Resistance; Motor X1Stator Reactance; Motor R2-Rotor Resistance; Motor Xm-Magnetizing
Reactance; Rotor Time Constant; Electrical Slip Frequency. These
values are used to create a motor model. They are extremely
important, especially for open-loop vector operation. The One-Step
Tuning Procedure takes approximately 3 minutes to complete. The
motor will not rotate during this test.
When One-Step Tuning is completed, the screen will show “STATIC
TEST DONE/ROT TEST FOLLOWS – PRESS ENTER FOR
FEEDBACK ALIGN.”
Press ENTER for FEEDBACK ALIGN test - the motor will run.
During this test the controller checks encoder ALIGNMENT
parameters while the motor is running at near full speed. Test will
automatically switch encoder phasing to match motor rotational
direction. (This test is only active in Closed Loop Vector mode, and is
not available for Open Loop Vector.) At the completion of this test,
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the screen will show “TEST PASSED – PRESS ENTER FOR FLUX
CURRENT TUNE”.
Press ENTER to run FLUX CURRENT Tuning test. Motor will ramp
up to 80% base speed and measure the current. The current to the
motor is recorded as the Motor Magnetizing Amps. When completed,
the screen will show “TEST PASSED – PRESS ENTER FOR SLIP
FREQUENCY TUNE.”
Press ENTER for SLIP FREQUENCY tuning. Using quick
accelerations, the slip of the motor will be determined. When
completed, the screen will show “TEST PASSED – PRESS ENTER
FOR SPEED LOOP TUNE.
Press ENTER for SPEED LOOP tuning. This test uses quick
acceleration to calculate the Speed Proportional and Integral Gains
with an unloaded motor. This test should be repeated with the load
connected to fine tune the Speed Proportional and Integral Gains.
If necessary, Speed Proportional and Integral Gains can be
individually adjusted in Level 1, MOTOR CONTROL block, for best
machine operation and speed regulation. Always make any gain
adjustments in small increments, one at a time.
Note: Dynamic Brake Hardware is required to perform the Slip
Frequency Tuning test and the Speed Loop Tuning test.
B.
AUTO TUNING WITH A LOAD CONNECTED TO THE MOTOR
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If a load cannot be disconnected from the motor, run only the ONESTEP Stationary Tuning procedure! Follow steps A-1 through A-11
above.
After completing the ONE-STEP Stationary Tuning procedure press
MENU, select STATUS and press ENTER. Next press JOG and jog
the machine at low speed for a short time by momentarily pressing
FWD or REV, if safe, to make sure that there are no electrical or
mechanical problems, then run the machine slowly up to full speed.
Note: If the motor runs only at very low speed (typically 50 RPM) and
does not respond to speed command inputs, stop the drive and change
FEEDBACK ALIGN parameter from FWD to REV (or REV to FWD)
in Level 1, MOTOR CONTROL block, and then run the drive again.
The FEDBACK ALIGN parameter sets the encoder’s electrical
direction of rotation to match that of the motor. This parameter is
normally set during the rotating auto tuning procedure. Running the
one-step static tuning procedure, there is a 50:50 chance of this
parameter being correct on the first try. There is no FEEDBACK
ALIGN parameter in Open Loop Vector!
If, after completing test B-2 above, everything seems fine, and no
problems exist with any part of the machine, motor or controller, the
SPEED LOOP TUNE Test , Item A-16 above, may be run.
4.
If there are any performance problems with stability, response or speed
regulation that cannot be corrected by auto tuning or by manually
adjusting individual gain parameters in Level 1, MOTOR CONTROL
block, please refer to section 6 of the H2 instruction manual titled
“Manually Tuning the H2 Control”. This section shows how to
calculate and manually adjust various important parameters and gains,
if necessary.
In addition to auto tuning the controller in the QUICK SET-UP mode, the abovedescribed tuning procedure (with or without a load) may be performed in Level 2
Programming Block. Enter the motor nameplate data in Level 2, MOTOR DATA
block, and perform tuning in Level 2, AUTO TUNE block following similar
procedure.
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